Car

ABSTRACT

A car includes a car body having a bottom portion, a wheel that is rotatable, and a supporting member for supporting the wheel, the supporting member being provided to the bottom portion. At least eight pairs of the wheel and the supporting member are provided. The supporting member has a first supporting portion for supporting the wheel rotatably, a second supporting portion for supporting the first supporting portion so that a direction of the wheel supported by the first supporting portion can be changed, and a turning portion that is rotatable about a rotation axis with its axial direction along a direction orthogonal to the bottom portion, the turning portion being provided to the bottom portion. The turning portion supports the second supporting portion so that a distance between the wheel and the bottom portion can be changed, and a position of the wheel can be moved by a rotation of the turning portion in a state that the distance is maintained.

CROSS-REFERENCE TO RELATED APPLICATIONS

Japanese Patent Application No. 2003-392081 filed on Nov. 21, 2003 isincorporated by reference.

BACKGROUND

1. Technical Field

The present invention relates to cars.

2. Related Art

Cars are well-known. The car includes a car body having a bottomportion, a rotatable wheel, and a supporting member for supporting thewheel provided at the bottom portion, and the car runs in apredetermined traveling direction by the rotation of the wheel (refer toJP-A-2002-227883).

By the way, a typical well-known car has four wheels, and some or all ofthe four wheels are driven, so that the car runs in a predeterminedtraveling direction. Although, the car can turn by changing thedirection of the wheels or back up by rotating the wheels in a reversedirection, the variety of movements is such that it is limited.

SUMMARY

An advantage of some aspects of the present invention is that it ispossible to realize a car that can perform various movements.

An aspect of the invention is a car including: a car body having abottom portion; a wheel that is rotatable; and a supporting member forsupporting the wheel, the supporting member being provided to the bottomportion, wherein at least eight pairs of the wheel and the supportingmember are provided, wherein the supporting member has a firstsupporting portion for supporting the wheel rotatably, a secondsupporting portion for supporting the first supporting portion so that adirection of the wheel supported by the first supporting portion can bechanged, and a turning portion that is rotatable about a rotation axiswith its axial direction along a direction orthogonal to the bottomportion, the turning portion being provided to the bottom portion, andwherein the turning portion supports the second supporting portion sothat a distance between the wheel and the bottom portion can be changed,and a position of the wheel can be moved by a rotation of the turningportion in a state the distance is maintained.

Other features of the present invention will be made clear through thepresent specification with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

For a more complete understanding of the present invention and theadvantages thereof, reference is now made to the following descriptiontaken in conjunction with the accompanying drawings wherein:

FIG. 1A is a top view showing an example of a configuration of apassenger car 2, FIG. 1B is a bottom view showing an example of theconfiguration of the passenger car 2, FIG. 1C is a front view showing anexample of the configuration of the passenger car 2, FIG. 1D is a sideview showing an example of the configuration of the passenger car 2, andFIG. 1E is a back view showing an example of the configuration of thepassenger car 2;

FIG. 2 is a diagram showing a back surface of a bottom portion 6provided to the passenger car 2;

FIG. 3 is a perspective view showing a wheel 8 and a supporting member10;

FIG. 4A is a front view showing the wheel 8 and the supporting member10, FIG. 4B is a rear view showing the wheel 8 and the supporting member10, FIG. 4C is a right side view showing the wheel 8 and the supportingmember 10, FIG. 4D is a top view showing the wheel 8 and the supportingmember 10, FIG. 4E is a left side view showing the wheel 8 and thesupporting member 10, and FIG. 4F is a bottom view showing the wheel 8and the supporting member 10;

FIG. 5 is a schematic view showing a position of a motor provided in thesupporting member 10;

FIG. 6 is an explanatory view for explaining a movement of the wheel 8and the supporting member 10;

FIG. 7 is an explanatory view for explaining the position of eightsub-computers 12 and a main computer 14;

FIGS. 8A to 8H are state transition diagrams showing a manner in whichthe passenger car 2 performs a forward run and a rotational movementcontinuously;

FIGS. 9A to 9G are state transition diagrams showing a manner in whichthe passenger car 2 performs a forward run and a horizontal movementcontinuously;

FIGS. 10A to 10I are state transition diagrams showing a manner in whichthe passenger car 2 walks;

FIGS. 11A to 11I are state transition diagrams showing a manner in whichthe passenger car 2 climbs up a step in the forward run;

FIGS. 12A to 12I are state transition diagrams showing a manner in whichthe passenger car 2 runs forward by avoiding contact with a curb; and

FIGS. 13A to 13E are state transition diagrams showing a manner in whichthe passenger car 2 goes up an inclination.

DESCRIPTION OF EXEMPLARY EMBODIMENTS

At least the following matters will become clear through the descriptionof the present specification and the accompanying drawings.

A car including:

a car body having a bottom portion;

a wheel that is rotatable; and

a supporting member for supporting the wheel, the supporting memberbeing provided to the bottom portion,

wherein at least eight pairs of the wheel and the supporting member areprovided,

wherein the supporting member has

-   -   a first supporting portion for supporting the wheel rotatably,    -   a second supporting portion for supporting the first supporting        portion so that a direction of the wheel supported by the first        supporting portion can be changed, and    -   a turning portion that is rotatable about a rotation axis with        its axial direction along a direction orthogonal to the bottom        portion, the turning portion being provided to the bottom        portion, and

wherein the turning portion supports the second supporting portion sothat a distance between the wheel and the bottom portion can be changed,and a position of the wheel can be moved by a rotation of the turningportion in a state that the distance is maintained.

Thus, it is possible to achieve a car that can perform a variety ofmovements.

Further, it is possible that the turning portion supports the secondsupporting portion via a parallel link mechanism.

Thus, supporting the second supporting portion by the turning portioncan be realized with a simple structure.

Further, it is possible that there is included:

a first driving section for rotating the wheel;

a second driving section for changing a direction of the wheel;

a third driving section for changing a distance between the wheel andthe bottom portion; and

a fourth driving section for rotating the turning portion,

wherein the first driving section, the second driving section, the thirddriving section, and the fourth driving section are provided for everywheel.

In this case, one wheel, a corresponding supporting member, and acorresponding driving means can be made into one module. Therefore, byattaching the module to the car body or by detaching it from the carbody, a number of the wheels can be easily increased or decreased.

Further, it is possible that the first driving section, the seconddriving section, the third driving section, and the fourth drivingsection are provided in the supporting member, and

wherein the supporting member and the wheel are positioned lower than afront surface of the bottom portion.

In this case, the front surface of the bottom portion can be easily madeeven (flat). Further, in the case where the front surface of the bottomportion is flat, it is possible to flexibly design an internal structureof the car body.

Further, it is possible that there is included a controlling section forcontrolling the first driving section, the second driving section, thethird driving section, and the fourth driving section,

wherein the controlling section is provided for every wheel.

In this case, one wheel, a corresponding supporting member, acorresponding driving section described above, and a correspondingcontrolling section can be made into one module. Therefore, by attachingthe module to the car body, or detaching it from the car body, thenumber of the wheels can be increased or decreased more easily.

Further, it is possible that the controlling section is positioned lowerthan the front surface of the bottom portion.

In this case, the front surface of the bottom portion can be made even(flat) more easily. Then, in the case where the front surface of thebottom portion is even, it is possible to flexibly design the internalstructure of the car body.

Further, it is possible that a convex portion for containing thecontrolling section is provided on a back surface of the bottom portion.

In this case, even in the case where the size of the controlling sectionis large, the front surface of the bottom portion can be easily madeeven (flat).

Further, it is possible that a recess portion is provided in the backsurface of the bottom portion,

-   -   the recess portion being for preventing the wheel and the        supporting portion from contacting the bottom portion at the        time a distance between the wheel and the bottom portion is        changed and the wheel comes close to the bottom portion.

In this case, it is possible to operate the car in a state that thefront surface of the bottom portion and the wheel are close. Further, inthe case where there is a projection such as a step or a curb in theground, even if the height of the projection is high, it is possible torealize a desired movement (for example, a movement of climbing up astep or a movement of going over a curb).

Further, it is possible to include a main controlling section that cancommunicate with each controlling section.

Further, it is possible that some of the wheels of the at least eightwheels provided to the car, that are in a state not contacting a ground,move.

In this case, it is possible to perform preparation for the nextmovement by moving the wheels not contacting the ground while movingusing the wheels contacting the ground.

Further, it is possible that the car moves in a state that the bottomportion is maintained horizontal even in the case where there areprojections and depressions in the ground, by selectively contacting tothe ground the at least eight wheels provided to the car.

Further, it is possible that there is included a detecting section fordetecting the projections and the depressions,

wherein the at least eight wheels are selectively made to contact theground, according to an output of the detecting section.

In this case, even if information regarding the position or height ofthe projections and depressions is not provided in advance, a desiredmovement (for example, a movement of climbing up a step or a movement ofgoing over a curb) can be performed.

Further, it is possible that the car moves in a state that the bottomportion is maintained horizontal even in the case where there is aninclination in the ground, by changing the distance between the wheeland the bottom portion according to the inclination of the ground.

Further, it is possible that there is included a detecting section fordetecting the inclination,

wherein the distance between the wheel and the bottom portion is changedaccording to an output of the detecting section.

In this case, even if information regarding the position or the heightof the inclination is not provided in advance, it is possible to performa movement of moving in a state that the bottom portion is maintainedhorizontal.

Further, it is possible that the car moves by

-   -   making some of the wheels of the at least eight wheels provided        to the car contact the ground, and    -   making the bottom portion move relatively in respect to the        ground, by driving the second driving section and the fourth        driving section, that correspond to the wheel, in a state that a        rotation of the wheel contacting the ground is stopped.

Further, it is possible that the car is a passenger car that a personcan ride in.

In this case, a passenger car that is convenient to use can be realized.

Further, it is possible that the car is a toy car.

In this case, a toy car that is attractive to a buyer can be realized.

Further, it is possible that the car is a truck for conveying goods.

In this case, a truck that can perform carrying in various ways can berealized.

===An Example of a Configuration of a Passenger Car 2===

First, by using FIGS. 1A to 7, an outline of an example of aconfiguration of a car according to the present embodiment is explained.Note that, in this embodiment, as an example of a car, a passenger car 2that a person can ride in is described. FIGS. 1A to 1E are six viewsshowing an example of a configuration of the passenger car 2. FIG. 2 isa diagram corresponding to a bottom view of FIG. 1B, that is, a viewshowing a back surface of a bottom portion 6 provided to the passengercar 2, and in order to more easily understand the positions of recessportions 6 a described later, for the sake of convenience, the wheels 8and the supporting members 10 are omitted here. FIG. 7 is an explanatorydiagram for explaining positions of eight sub-computers 12 and a maincomputer 14. FIGS. 3 to 6C are described later. Note that, in FIGS. 1Ato 1E, for example, the car body 4 is arranged above the wheels 8.

The passenger car 2 has the car body 4, eight wheels 8, and eight of thesupporting member 10 for supporting the wheel 8, that is provided forevery wheel 8.

The car body 4 is a body of the passenger car 2, and similar to awell-known passenger car, has a roof portion, a door portion, a frontglass portion or the like. The car body 4 is provided with a space inwhich a person can ride in, and the person riding the passenger car 2can operate the passenger car 2 in order to make the passenger car 2perform a variety of movements that will be described later.

The car body 4 is further provided with the bottom portion 6. A surface(front surface) of a front side of the bottom portion 6 has a functionof a floor portion of the passenger car 2, and on the surface of thefront side there are provided seats for a person riding the car to siton. Further, on a surface (back surface) of a back side of the bottomportion 6, there are provided supporting members 10 for supporting thewheels 8. Note that, the front surface of the bottom portion 6 is a flatstructure over the entire surface, but on the other hand, the backsurface has recess portions 6 a (in FIG. 2, shaded portions with slantedlines slanted towards the right bottom direction) and a convex portion 6b (in FIG. 2, a shaded portion with slanted lines that are slantedtowards the left bottom direction), as shown in FIG. 2. The functions ofthe recess portion 6 a and the convex portion 6 b will be described indetail later.

The eight wheels 8 and the eight supporting members 10 are positionedlower than the front surface of the bottom portion 6. More specifically,the eight wheels 8 are provided on the back surface of the bottomportion 6 via the supporting member 10 provided for every wheel 8. Here,the configuration of the wheel 8 and the supporting member 10 isdescribed using FIGS. 3 to 6C. FIG. 3 is a perspective view showing thewheel 8 and the supporting member 10. FIGS. 4A to 4F are six viewsshowing the wheel 8 and the supporting member 10. FIG. 5 is a viewcorresponding to the left side view of FIG. 4E, and is a schematic viewshowing a position of a motor provided in the supporting member 10.FIGS. 6A to 6C are explanatory views for explaining movements of thewheel 8 and the supporting portion 10. Note that, as described above,the passenger car 2 includes eight pairs of the wheel 8 and thesupporting member 10, but these structures are the same, and one ofthese structures will be focused on and described below.

The supporting member 10 includes a first supporting portion 52 forsupporting the wheel 8, a second supporting portion 54 for supportingthe first supporting portion 52, a turning portion 56 rotatable about arotation axis, that is provided on the bottom portion 6, and a parallellink mechanisms 58 that is put across a second supporting portion 54 andthe turning portion 56. Further, the supporting member 10 has a firstmotor 60 as an example of a first driving section for making the wheel 8rotate, a second motor 62 as an example of a second driving section forchanging the direction of the wheel, a third motor 64 as an example of athird driving section for changing the distance between the wheel 8 andthe bottom portion 6, and a fourth motor 66 as an example of a fourthdriving section for rotating the turning portion 56.

The wheel 8 is configured to be able to rotate in respect to thesupporting member 10. The rotating direction of the wheel isbidirectional.

The first supporting portion 52 supports the wheel 8 rotatably. As shownin FIG. 5, the first motor 60 is contained in the first supportingportion 52, and the first motor 60 rotates the wheel 8 by its drivingforce. Note that, the first supporting member 52 is also provided with aknown driving force transfer section (not shown), such as a gear or abelt, for transferring a driving force of the first motor 60.

The second supporting portion 54 supports the first supporting portion52 so that the direction of the wheel 8 supported by the firstsupporting portion 52 can change. That is, the first supporting portion52 is connected to the second supporting portion 54 via a joint 70, andwhen the first supporting portion 52 rotatingly moves integrally withthe wheel 8 with the joint 70 as the center, the angle between the firstsupporting portion 52 and the second supporting portion 54 is changed.Then, as shown in the left figure FIG. 6A, by this movement, thedirection of the wheel 8 supported by the first supporting portion 52 ischanged. Further, as shown in FIG. 5, the second motor 62 is containedin the second supporting portion 54. The second motor 62 rotates thefirst supporting portion 52 by its driving force, so as to change thedirection of the wheel 8. Note that, the second supporting portion 54 isalso provided with a known driving force transfer section (not shown),such as a gear or a belt, for transferring the driving force of thesecond motor 62.

The turning portion 56 is provided to the bottom portion 6, and theturning portion 56 supports the second supporting portion 54 so that thedistance between the wheel 8 and the bottom portion 6 can be changed.That is, the turning portion 56 is connected to the second supportingportion 54 via the parallel link mechanism 58 that is put across thesecond supporting portion 54 and the turning portion 56, and when theparallel link mechanism 58 is operated, as shown in FIG. 6B, the secondsupporting portion 54 moves up and down integrally with the firstsupporting portion 52 and the wheel 8. Then, by this movement, thedistance between the wheel 8 and the bottom portion 6 is changed (thewheel 8 moves closer to or away from the bottom portion 6). Further, asshown in FIG. 5, the third motor 64 is contained in the turning portion56, and the third motor 64, by its driving force, makes the parallellink mechanism 58 operate. More specifically, the parallel linkmechanism 58 includes a pair of first links 58 a and a pair of secondlinks 58 b positioned further to the bottom portion 6 side than thefirst links 58 a. The third motor 64, by its driving force, rotates thefirst links 58 a about an axis B. Thus, the first links 58 a operate,and with this movement, the second links 58 b also operate whilemaintaining the parallel state in respect to the first links 58 a. Notethat, the turning portion 56 is also provided with a known driving forcetransfer section (not shown), such as a gear or a belt, for transferringthe driving force of the third motor 64. Further, as described above,the back surface of the bottom portion 6 is provided with the recessportions 6 a. The recess portion 6 a has a function of preventing thewheel 8 and the supporting member 10 from contacting the bottom portion6, at the time the distance between the wheel 8 and the bottom portion 6is changed and the wheel 8 comes close to the bottom portion 6.

Further, the turning portion 56 is configured so that it can rotateabout a rotation axis A that has its axial direction along a directionintersecting the bottom portion 6, and the turning portion 56 supportsthe second supporting portion 54 so that the position of the wheel 8 canbe moved in a state that the distance between the wheel 8 and the bottomportion 6 is maintained by the rotation of the turning portion 56. Thatis, when the turning portion 56 rotates, as shown in FIG. 6C, the wheel8 that is supported by the turning portion 56 via the first supportingportion 52 and the second supporting portion 54 moves so as to draw anarc. At this time, if the above described third motor 64 is not driven,in a state that the distance between the wheel 8 and the bottom portion6 is maintained, the position of the wheel 8 is moved. Further, as shownin FIG. 5, a fourth motor 66 is contained in the turning portion 56. Thefourth motor 66 rotates the turning portion 56 by its driving force, inorder to move the position of the wheel 8. Note that, the turningportion 56 is provided with a known driving force transfer section (notshown), such as a gear or a belt, for transferring the driving force ofthe fourth motor 66.

Further, the passenger car 2 includes a sub-computer 12 as an example ofa controlling section for controlling the first motor 60, the secondmotor 62, the third motor 64, and the fourth motor 66. Eightsub-computer 12 are provided, one for every wheel, and the eightsub-computers 12 are positioned lower than the front surface of thebottom portion 6. More specifically, as shown in FIG. 7, the eightsub-computers 12 are contained in the convex portion 6 b described aboveprovided on the back surface of the bottom portion 6. Each sub-computer12 includes a CPU, a ROM, a RAM or the like, and the sub-computer 12controls the first motor 60, the second motor 62, the third motor 64,and the fourth motor 66 that are for realizing the above describedmovements of the wheel 8 corresponding to the sub-computer 12.

Further, the passenger car 2 includes a main computer 14 as an exampleof a main controlling section that can communicate with each of theeight sub-computers 12. As shown in FIG. 7, the main computer 14 isprovided at an end portion of the bottom portion 6 on the back surfaceof the bottom portion 6, and in this embodiment the main computer 14 isconnected to the eight sub-computers 12 via cables 16 and hubs 18. Themain computer 14 includes a CPU, a ROM, and a RAM or the like, and has afunction of being in charge of the eight sub-computers 12.

===An Example of a Movement of the Passenger Car 2===

As described above, the passenger car 2 according to this embodiment haseight wheels 8, and each of the wheels can perform the above four typesof independent motions (the wheel rotates, the direction of the wheel ischanged, the distance between the wheel and the bottom portion ischanged, the position of the wheel is moved). Further, the movements ofeach wheel 8 are combined, and the passenger car 2 performs a variety ofmovements.

Hereinbelow, an example of the variety of movements is described usingFIGS. 8A to 13E.

FIGS. 8A to 8H are state transition diagrams showing a manner where thepassenger car 2 performs a forward run and a rotating movementcontinuously. FIGS. 9A to 9G are state transition diagrams showing amanner where the passenger car 2 performs a forward run and a horizontalmovement continuously. FIGS. 10A to 10I are state transition diagramsshowing a manner where the passenger car 2 walks. FIGS. 11A to 11I arestate transition diagrams showing a manner where the passenger car 2climbs up a step during the forward run. FIGS. 12A to 12I are statetransition diagrams showing a manner where the passenger car 2 runsforward by avoiding contact with a curb. FIGS. 13A to 13E are statetransition diagrams showing a manner where the passenger car 2 is movingup an inclination. Note that, in FIGS. 8A to 10I, the wheel that isshaded represents a wheel that is not contacting the ground, and thewheel that is not shaded represents the wheel that is contacting theground.

Note that, hereinbelow are described as examples of the variety ofmovements, a movement of performing the forward run and the rotatingmovement continuously, a movement of performing the forward run and thehorizontal movement continuously, a walking movement, a movement in thecase where there are projections and depressions on the ground, and amovement in the case where there is an inclination on the ground. Butthe passenger car 2 can also perform other movements, for example, amove in a diagonal direction or a move in a jigzag move or the like.

<<<A Movement of the Passenger Car 2 Performing a Forward Run and aRotating Movement Continuously>>>

First, a case that the passenger car 2 performs a forward run and arotating movement continuously is explained using FIGS. 8A to 8H. Notethat, in the following explanation, for the sake of convenience, anoperation for rotating the wheel 8 by controlling the first motor 60 iscalled operation A, an operation to change a direction of the wheel 8 bycontrolling the second motor 62 is called operation B, an operation tochange a distance between the wheel 8 and the bottom portion 6 (to movethe wheel 8 up or down) by controlling the third motor 64 is calledoperation C, and an operation to move the position of the wheel 8 bycontrolling the fourth motor 66 is called operation D.

In the first state A1, it is assumed that the passenger car 2 is runningforward in a direction of the arrow. In this case, all of the wheels arerotating in a state contacting the ground, and the forward run by theeight wheels is being performed.

Next, the running state of the passenger car 2 is switched from theforward run by eight wheels to a forward run by four wheels (from stateA1 to A2). This switching is realized by performing the operation C toeach of the wheels 8 b, 8 c, 8 f, 8 g, so that the wheel 8 b, 8 c, 8 f,and 8 g are not contacting the ground. At this time, the rotation of thewheels 8 b, 8 c, 8 f, and 8 g are stopped.

Next, the passenger car 2 performs preparation for the next operation(that is, a rotating movement) while performing the forward run by fourwheels (state A2 to state A3). That is, each of the wheels 8 b, 8 c, 8f, and 8 g that are not contacting the ground, are arranged so that thewheels 8 b, 8 c, 8 f, and 8 g are along a circumference shown in FIG. 8.This preparation is realized by performing operation B and operation Dto each of the wheels 8 b, 8 c, 8 f, and 8 g.

Next, the passenger car 2 rests by making the rotation of the wheels 8a, 8 d, 8 e, and 8 h that are contacting the ground stop (from state A3to state A4). Then, in the rest state, the passenger car 2 switches thewheels that contact the ground from the wheels 8 a, 8 d, 8 e, and 8 h tothe wheels 8 b, 8 c, 8 f, and 8 g (from state A4 to state A5 to stateA6). This switch is realized by performing operation C in respect, toeach of the eight wheels.

Then, operation A is performed in respect to each of the wheels 8 b, 8c, 8 f, and 8 g that newly contact the ground, and the passenger car 2rotatingly moves in a state with each of the wheels 8 b, 8 c, 8 f, and 8g along a circumference as shown in FIG. 8, (state A6 to state A7 tostate A8).

Note that, as described above, the rotating motion movement is performedin a state that the four wheels 8 b, 8 c, 8 f, and 8 g are along thecircumference, but the rotating motion movement can be performed in astate that only three wheels are along the circumference.

<<<Movement of the Passenger Car 2 Performing a Forward Run and aHorizontal Movement Continuously>>>

Next, using FIG. 9, there is described a case that the passenger car 2performs a forward run and a horizontal movement continuously. Notethat, here, an operation of rotating the wheel 8 by controlling thefirst motor 60 is referred to as an operation A, an operation ofchanging a direction of the wheel 8 by controlling the second motor 62is referred to as an operation B, an operation of changing a distancebetween the wheel 8 and the bottom portion 6 by controlling the thirdmotor 64 (making the wheel 8 move up and down) is referred to as anoperation C, and an operation of moving a position of the wheel 8 bycontrolling the fourth motor 66 is referred to as an operation D.

In the first state B1, it is assumed that the passenger car 2 is runningforward in a direction of the arrow. In this case, all the wheels arerotating in a state that they are contacting the ground, and the forwardrun by eight wheels is being performed.

Next, the running state of the passenger car 2 is changed from theforward run by eight wheels to the forward run by four wheels (state B1to state B2). This change is realized by performing operation C to eachof the wheels 8 b, 8 c, 8 f, and 8 g so that the wheels 8 b, 8 c, 8 f,and 8 g are not contacting the ground. In this case, the rotations ofthe wheels 8 b, 8 c, 8 f, and 8 g are stopped.

Next, the passenger car 2 performs preparations for the next operation(that is, a horizontal movement), while performing the forward run byfour wheels (state B2 to state B3). That is, the wheels 8 b, 8 c, 8 f,and 8 g are arranged so that the direction of each of the wheels 8 b, 8c, 8 f, and 8 g that are not contacting the ground are caused to be in adirection orthogonal to the traveling direction (a direction shown by anarrow in state B3 of FIG. 9). This preparation is realized by performingthe operation B in respect to each of the wheels 8 b, 8 c, 8 f, and 8 g.

Next, the passenger car 2 rests by making the rotation of the wheels 8a, 8 d, 8 e, and 8 h that are contacting the ground stop (state B3 tostate B4). Then, in the rest state, the passenger car 2 switches thewheels contacting the ground from the wheels 8 a, 8 d, 8 e, and 8 h tothe wheels 8 b, 8 c, 8 f, and 8 g (state B4 to state B5 to state B6).The switching is realized by performing the operation C in respect toeach of the eight wheels.

Then, the operation A is performed in respect to each of the wheels 8 b,8 c, 8 f, and 8 g that newly contact the ground, and the passenger car 2moves horizontally in a direction shown by the arrow in state B7 in FIG.9G (state B6 to state B7).

<<<Walking Movement of the Passenger Car 2>>>

Next, a case in which the passenger car 2 walks is described using FIGS.10A to 10I. Here, “walking” of the passenger car 2 refers to moving ofthe passenger car 2 in a state that the rotation of the wheels that arecontacting the ground are stopped. More specifically, some of the wheels8 of the eight wheels 8 provided to the passenger car 2 are made tocontact the ground, and in a state that the rotation of the wheels 8contacting the ground are stopped, the passenger car 2 moves by drivingthe second motor 62 and the fourth motor 66 that correspond to thewheels 8, so that the bottom portion 6 is made to relatively move inrespect to the ground. Note that, here, an operation of changing thedirection of the wheel 8 by controlling the second motor 62 is called anoperation B, an operation of changing the distance between the wheel 8and the bottom portion 6 (moving the wheel 8 up and down) by controllingthe third motor 64 is called an operation C, and an operation of movingthe position of the wheel 8 by controlling the fourth motor 66 is calledan operation D.

In the first state C1, it is assumed that the passenger car 2 is atrest. In this situation, the rotation of all the wheels, that are in astate contacting the ground, are stopped.

Next, the wheels 8 a, 8 c, 8 e, and 8 g of the passenger car 2 are madeto be in a state not contacting the ground (state C1 to state C2). Thechange of this situation is realized by performing the operation C inrespect to each of the wheels 8 a, 8 c, 8 e, and 8 g.

Next, the passenger car 2 performs preparations for the walking movement(state C2 to state C3). That is, the passenger car 2 moves each of thewheels 8 a, 8 c, 8 e, and 8 g that are not contacting the ground to thefront side (right side in state C3 of FIG. 10) of the passenger car 2.This movement is realized by performing the operation D in respect toeach of the wheels 8 a, 8 c, 8 e, and 8 g. Further, the passenger car 2changes the direction of the wheels 8 a, 8 c, 8 e, and 8 g so that thedirections of each of the wheels 8 a, 8 c, 8 e, and 8 g are along adirection that the passenger car 2 walks (a direction from left to rightin state C3 in FIG. 100). This change is realized by performingoperation B in respect to each of the wheels 8 a, 8 c, 8 e, and 8 g.

Next, the passenger car 2 switches the wheels contacting the ground fromthe wheels 8 b, 8 d, 8 f, and 8 h to the wheels 8 a, 8 c, 8 e, and 8 g(state C3 to state C4 to state C5). This switching is realized byperforming operation C in respect to each of the eight wheels.

Then, the passenger car 2 performs the operation B and the operation Din respect to the wheels 8 a, 8 c, 8 e, and 8 g in a state that therotation of the wheels 8 a, 8 c, 8 e, and 8 g that are newly contactingthe ground are stopped. Thus, the bottom portion 6 of the passenger car2 relatively moves in respect to the ground, and the walking movement ofthe passenger car 2 in the direction of the arrow is realized (state C5to state C6). Then, the passenger car 2 performs preparation for thenext walking movement, in parallel with the walking movement (state C5to state C6). That is, the passenger car 2 moves each of the wheels 8 b,8 d, 8 f, and 8 h that are not contacting the ground to the front sideof the passenger car 2 (right side in state C6 of FIG. 10F). Thismovement is realized by performing the operation D in respect to each ofthe wheels 8 b, 8 d, 8 f, and 8 h. Further, the passenger car 2 changesthe direction of the wheels 8 b, 8 d, 8 f, and 8 h so that the directionof each of the wheels 8 b, 8 d, 8 f, and 8 h are along the direction inwhich the passenger car 2 walks (a direction from the left to the rightin state C6 in FIG. 10F). This change is realized by performing theoperation B to each of the wheels 8 b, 8 d, 8 f, and 8 h.

Next, the passenger car 2 switches the wheels contacting the ground,from the wheels 8 a, 8 c, 8 e, and 8 g to the wheels 8 b, 8 d, 8 f, and8 h (state C6 to state C7 to state C8). This switching is realized byperforming the operation C in respect to each of the eight wheels.

Then, the passenger car 2 performs the operation B and the operation Din respect to the wheels 8 b, 8 d, 8 f, and 8 h in a state that therotation of the wheels 8 b, 8 d, 8 f, and 8 h that are newly contactingthe ground are stopped. Thus, the bottom portion 6 of the passenger car2 relatively moves in respect to the ground, and the walking movement ofthe passenger car 2 in the arrow direction is realized (state C8 tostate C9).

Hereinbelow, by repeating the above described movements, the walking ofthe passenger car 2 is continued.

<<<Movement of the Passenger Car 2 in the Case Where there areProjections and Depressions on the Ground>>>

Next, a movement of the passenger car 2 in the case where there areprojections and depressions on the ground is described. The passengercar 2 according to this embodiment can move in a state that the bottomportion 6 is maintained horizontal even in the case there areprojections and depressions on the ground by making eight wheels 8provided to the passenger car 2 to selectively contact the ground.Hereinbelow, as examples of movements of the passenger car 2 in the casethere are projections and depressions on the ground, there are describeda movement of the passenger car 2 in the case where there is a step onthe ground, and a movement of the passenger car 2 in the case there is acurb on the ground.

First, the movement of the passenger car 2 in the case where there is astep on the ground is described using FIG. 11. Note that, the passengercar 2 according to this embodiment has information regarding a positionor a height of the step in advance.

In the first state D1, it is assumed that the passenger car 2 is runningforward in the direction of the arrow. In this case, all the wheels arerotating in a state contacting the ground, and the forward running byeight wheels is performed.

Next, when the distance between the step and the wheels 8 a and 8 hbecomes within a predetermined distance, the passenger car 2 moves thewheels 8 a and 8 h upwards for the amount of the height of the step(state D1 to state D2). That is, the running state of the passenger car2 is switched from the forward running by eight wheels to forwardrunning by six wheels.

Then, at the time the wheels 8 a and 8 h reach the step, the wheels 8 aand 8 h climb on the step (state D2 to state D3). Here, the runningstate of the passenger car 2 returns to the forward running by eightwheels from the forward running by six wheels.

Next, when the distance between the step and the wheels 8 b and 8 gbecomes within a predetermined distance, the passenger car 2 moves thewheels 8 b and 8 g upwards for the amount of the height of the step(state D3 to state D4). That is, the running state of the passenger car2 changes again to the forward running by six wheels from the forwardrunning by eight wheels.

Then, at the time the wheels 8 b and 8 g reach the step, the wheels 8 band 8 g climb on the step (state D4 to state D5). Here, the runningstate of the passenger car 2 again returns to the forward running byeight wheels from the forward running by six wheels.

Hereinbelow, similar movements are performed in regards to the wheels 8c and 8 f and the wheels 8 d and 8 e (state D5 to state D6 to state D7to state D8 to state D9). In the end, the passenger car 2 is to runforward on the step in a state that all the wheels are contacting theground (state D9).

Thus, the passenger car 2 can climb up the step in a state that thebottom portion 6 is maintained horizontal at all times (from state D1 tostate D9) by making eight wheels 8 to selectively contact the ground.

Note that, in the above, the movement of the passenger car 2 climbing upthe step is described, but if the movement is continued, the passengercar 2 can also climb up stairs. Further, the passenger car 2 can performa movement of climbing down a step, and by continuing the movement canalso climb down stairs.

Next, the movement of the passenger car 2 in the case where there is acurb on the ground is described using FIG. 12. Note that, the passengercar 2 according to this embodiment is assumed to have informationaccording to a position or a height of the curb in advance.

In the first state E1, it is assumed that the passenger car 2 is runningforward in a direction of the arrow. In this case, all the wheels arerotating in a state contacting the ground, and the forward running byeight wheels is performed.

Next, when a distance between the curb and the wheels 8 a and 8 hbecomes within a predetermined distance, the passenger car 2 moves thewheels 8 a and 8 h upwards (state E1 to state E2). That is, the runningstate of the passenger car 2 changes to the forward running by sixwheels from the forward running by eight wheels. Note that, how much thewheels 8 a and 8 h are moved upwards, depends on the height of the curb.In other words, the wheels 8 a and 8 h are to be moved upwards to adegree that the wheels 8 a and 8 h do not contact the curb at the timethe wheels 8 a and 8 h reach the curb. Then, at the time the wheels 8 aand 8 h reach the curb, it is possible for the wheels 8 a and 8 h toavoid contact with the curb.

Next, when the wheels 8 a and 8 h pass over the curb, the passenger car2 moves the wheels 8 a and 8 h downwards and makes them contact theground (state E2 to state E3). Here, the running state of the passengercar 2 returns to the forward run by eight wheels from the forward run bysix wheels.

Next, when the distance between the curb and the wheels 8 b and 8 gbecomes within a predetermined distance, the passenger car 2 moves thewheels 8 b and 8 g upwards (state E3 to state E4). That is, the runningstate of the passenger car 2 again changes from the forward running byeight wheels to the forward running by six wheels. Then, at the time thewheels 8 b and 8 g reach the curb, contact of the wheels 8 a and 8 hwith the curb is avoided.

Next, when the wheels 8 b and 8 g pass over the curb, the passenger car2 moves the wheels 8 b and 8 g downwards and makes them contact theground (state E4 to state E5). Here, the running state of the passengercar 2 is again returned to the forward running by eight wheels from theforward running by six wheels.

Hereinbelow, similar movements are performed in regards to the wheels 8c and 8 f and the wheels 8 d and 8 e (state E5 to state E6 to state E7to state E8 to state E9), and finally, the passenger car 2 passes thecurb so that all the wheels do not contact the curb (state E9).

Thus, by making eight wheels 8 to selectively contact the ground, thepassenger car 2 can run forward while avoiding contact to the curb in astate that the bottom portion 6 is maintained horizontal at all times(from state E1 to state E9).

Note that, the movement of the passenger car 2 in the case there is aprojection (curb) on the ground is described above. But, by making eightwheels 8 to selectively contact the ground, the passenger car 2 can runforward while avoiding contact with a depression, in a state that thebottom portion 6 is maintained horizontal even in the case there is adepression such as a dip or a hole in the ground.

Further, an example of the passenger car 2 traveling in a straight lineis described above, but the passenger car 2 can make a turn or moverotatingly in a state that the bottom portion 6 is maintained horizontaleven in the case where there is a step or a curb in the ground.

Further, the passenger car 2, described above, is assumed to haveinformation regarding the position or the height of the projections anddepressions such as the step or the curb in advance, and that eightwheels 8 are made to selectively contact the ground based on theinformation, but this is not a limitation. For example, the eight wheelsmay be made to selectively contact the ground in accordance with anoutput of a detecting means for detecting the projections anddepressions.

<<<Movement of the Passenger Car 2 in the Case there is an InclinationIn the Ground>>>

A movement of the passenger car 2 in the case where there is aninclination in the ground is described next. The passenger car 2according to this embodiment can move in a state that the bottom portion6 is maintained horizontal even in the case there is an inclination inthe ground by changing the distance between the wheel 8 and the bottomportion 6 according to the inclination of the ground. Hereinbelow, themovement of the passenger car 2 in the case where there is aninclination in the ground is described using FIG. 13. Note that, thepassenger car 2 according to this embodiment is assumed to haveinformation regarding the position or the height of the inclination inadvance. Further, in this embodiment, the inclination angle of theinclination of the ground is assumed to always be constant.

In a first state F1, it is assumed that the passenger car 2 is runningforward in a direction of the arrow. In this case, all the wheels arerotating in a state contacting the ground, and the forward run by eightwheels is performed.

Next, when the wheels 8 a and 8 h approach the inclination, thepassenger car 2 moves the wheels 8 a and 8 h upwards (state F1 to stateF2). Note that, how much the wheels 8 a and 8 h are moved upwardsdepends on the degree of the inclination. More specifically, the wheels8 a and 8 h are moved so that a difference between a distance betweenthe wheels 8 a, 8 h and the bottom portion 6 and a distance between thewheels 8 d, 8 e and the bottom portion 6 is made to be always the sameas a difference between a height of a ground that the wheels 8 a and 8 hare contacting and a height of a ground that the wheels 8 d and 8 e arecontacting.

Next, when the wheels 8 b and 8 g approach the inclination, thepassenger car 2 moves the wheels 8 b and 8 g upwards (state F2 to stateF3). Here also, how much the wheels 8 b and 8 g are moved upwardsdepends on the degree of the inclination. The passenger car 2 moves thewheels 8 b and 8 g so that a difference between a distance between thewheels 8 b, 8 g and the bottom portion 6 and a distance between thewheels 8 d, 8 e and the bottom portion 6 is made to be always the sameas a difference between a height of a ground that the wheels 8 b and 8 gare contacting and a height of a ground that the wheels 8 d and 8 e arecontacting. Further, during the time between state F2 to state F3, thepassenger car 2 moves the wheels 8 a and 8 h so that a differencebetween a distance between the wheels 8 a, 8 h and a bottom portion 6and a distance between the wheels 8 d, 8 e and the bottom portion 6 ismade to be always the same as a difference between a height of a groundthat the wheels 8 a, 8 h are contacting and a height of a ground thatthe wheels 8 d, 8 e are contacting.

Next, when the wheel 8 c and 8 f approach the inclination, the passengercar 2 moves the wheels 8 c and 8 f upwards (state F3 to state F4). Here,how much the wheels 8 c and 8 f are moved upwards depends on the degreeof the inclination, and the passenger car 2 moves the wheels 8 c and 8 fso that a difference between a distance between the wheels 8 c, 8 f andthe bottom portion 6 and a distance between the wheels 8 d, 8 e and thebottom portion 6 is made to be always the same as a difference between aheight of a ground that the wheels 8 c, 8 f are contacting and a heightof a ground that the wheels 8 d, 8 e are contacting.

Further, in between state F3 and state F4, the passenger car 2 moves thewheels 8 a and 8 h so that a difference between a distance between thewheels 8 a, 8 h and the bottom portion 6 and a distance between thewheels 8 d, 8 e and the bottom portion 6 is made to be always the sameas a difference between a height of a ground that the wheels 8 a, 8 hare contacting and a height of a ground that the wheels 8 d, 8 e arecontacting. Similarly, the wheels 8 b and 8 g are moved so that adifference between a distance between the wheels 8 b, 8 g and the bottomportion 6 and a distance between the wheels 8 d and 8 e and the bottomportion 6 is made to be always the same as a difference between a heightof a ground that the wheel 8 b and 8 g are contacting and a height of aground that the wheels 8 d and 8 e are contacting.

Then, when the wheels 8 d and 8 e approach the inclination, the abovedescribed upward movement of the wheels 8 a, 8 b, 8 c, 8 f, 8 g, and 8 his stopped. Finally, the passenger car 2 runs forward on the inclination(state F4 to state F5).

Thus, the passenger car 2 can move in a state that the bottom portion 6is maintained horizontal at all times (from state F1 to state F5) evenin the case where there is an inclination in the ground, by making thedistance between the wheel 8 and the bottom portion 6 change inaccordance with the inclination of the ground.

Note that, the movement of the passenger car 2 going up the inclinationis described above, but if the wheels 8 are to be moved downwardsaccording to the inclination of the ground, the passenger car 2 can alsogo down the inclination.

Further, an example of the passenger car 2 traveling in a straight lineis described above, but the passenger car 2 can make a turn or moverotatingly in a state that the bottom portion 6 is maintained horizontaleven in the case where the ground has an inclination.

Further, in the above that the passenger car 2 has information regardingthe position or the height of the inclination in advance, and thedistance of the wheels 8 from the bottom portion 6 is to be changedbased on the information, but this is not a limitation. For example, thedistance of the wheels from the bottom portion can be changed accordingto an output of a detecting section for detecting the inclination.

As described in the paragraph of the Related Art, a typical conventionalcar has four wheels, and some or all of the four wheels are driven, sothat the car travels in a predetermined traveling direction. This carcan make a turn by changing the direction of the wheels or can reverseby rotating the wheels in an opposite direction, but the variety of themovements is limited.

On the other hand, the car according to this embodiment is provided withat least 8 pairs of the wheel 8 and the supporting member 10, andfurther, the supporting member 10 has a first supporting portion 52 forsupporting the wheel 8 rotatably, a second supporting portion 54 forsupporting the first supporting portion 52 so that the direction of thewheel 8 supported by the first supporting portion 52 can be changed, anda turning portion 56 that is provided to the bottom portion 6 and thatcan rotate about a rotation axis with its axial direction along adirection orthogonal to the bottom portion 6. The turning portion 56supports the second supporting portion 54 so that the distance betweenthe wheel 8 and the bottom portion 6 can be changed, and that theposition of the wheel 8 can be moved in a state that the distance ismaintained by the rotation of the turning portion 56. Thus, the abovedescribed variety of movements can be realized.

Other Embodiments

As described above, a car according to the present invention based onthe above embodiment is described, but the above embodiment of thisinvention is to facilitate the understanding of this invention, and isnot to limit this invention. This invention can be changed or alteredwithin the scope of this invention, and it is needless to say that thisinvention includes its equivalents.

Note that, the above embodiment describes a passenger car 2 that aperson can ride in, as an example of a car, but as long as it is a carit can be applied to any kind of car. For example, the car can be a toycar or a truck for conveying things.

In the case the car according to this invention is a passenger car, atoy car, or a truck, there are the below merits. That is, if the caraccording to this invention is a passenger car, the passenger car canperform a variety of movements, thus a passenger car that is veryconvenient can be realized. Further, if the car according to thisinvention is a toy car, since the toy car can perform a variety ofmovements, there can be realized a toy car that is attractive to abuyer. Further, if the car according to this invention is a truck, sincethe truck can perform a variety of movements, a truck that can convey indiverse ways can be realized.

Further, in the above embodiment, the turning portion 56 is to supportthe second supporting portion 54 via a parallel link mechanism 58, butthis is not a limitation. For example, the turning portion can supportthe second supporting portion via a mechanism other than the parallellink mechanism.

But, this embodiment is more preferable in that support of the secondsupporting portion 54 by the turning portion 56 is realized by a simplestructure.

Further, in the above embodiment, the first motor 60, the second motor62, the third motor 64, and the fourth motor 66 are to be provided foreach wheel 8, but this is not a limitation. For example, any of theabove motors may be configured so as to drive a plurality of the wheels.

In the case where there are provided the first motor 60, the secondmotor 62, the third motor 64, and the fourth motor 66 for every wheel 8,one wheel 8, a corresponding supporting member 10, and the correspondingmotor can be made into one module. Therefore, by attaching the module tothe car body 4, and detaching the module from the car body 4, the numberof the wheels 8 can be easily increased or decreased. Regarding thispoint, the above embodiment is more preferable.

Further, in the above embodiment, the first motor 60, the second motor62, the third motor 64, and the fourth motor 66, are provided in thesupporting member 10, and the supporting member 10 and the wheel 8 arepositioned lower than the front surface of the bottom portion 6, butthis is not a limitation. For example, the supporting member and thewheel can be positioned above the front surface of the bottom portion.

In the case the first motor 60, the second motor 62, the third motor 64,and the fourth motor 66, are provided in the supporting member 10, andthe supporting member 10 and the wheel 8 are positioned lower than thefront surface of the bottom portion 6, then the front surface of thebottom portion 6 can easily be made even (flat). Then, in the case wherethe front surface of the bottom portion 6 is even, it is possible toflexibly design an internal structure of the car body 4 (especially inthe periphery of the front surface of the bottom portion 6). In thisregard, the above embodiment is more preferable.

Further, in the above embodiment, a sub-computer 12 for controlling thefirst motor 60, the second motor 62, the third motor 64, and the fourthmotor 66, is to be provided for every wheel 8, but this is not alimitation. For example, the sub-computer can be configured to control aplurality of the wheels.

In the case the sub-computer 12 is provided for every wheel, one wheel8, the corresponding supporting member 10, the corresponding abovemotor, and the corresponding sub-computer 12 can be made into onemodule. Therefore, by attaching the module to the car body 4, or bydetaching the module from the car body 4, it is possible to increase ordecrease the number of wheels 8 more easily. In this regard, the aboveembodiment is more preferable.

Further, in the above embodiment, the sub-computer 12 is positionedlower than the front surface of the bottom portion 6, but this is not alimitation. For example, the sub-computer can be positioned above thefront surface of the bottom portion.

In the case the sub-computer 12 is positioned lower than the frontsurface of the bottom portion 6, the front surface of the bottom portion6 can be made even (flat) more easily. Then, in the case the frontsurface of the bottom portion 6 is even, it is possible to flexiblydesign an internal structure (especially, in the periphery of the frontsurface of the bottom portion 6) of the car body 4. In this regard, theabove embodiment is more preferable.

Further, in the above embodiment, the back surface of the bottom portion6 is provided with the convex portion 6 b for containing thesub-computer 12, but this is not a limitation. For example, the convexportion does not have to be formed on the back surface of the bottomportion.

But, even in the case where the size of the sub-computer 12 is large, inregard that the front surface of the bottom portion 6 can be made even(flat) easily, the above embodiment is more preferable.

Further, in the above embodiment, the back surface of the bottom portion6 is to be provided with the recess 6 a for preventing the wheel 8 andthe supporting member 10 from contacting the bottom portion 6, at thetime the distance between the wheel 8 and the bottom portion 6 ischanged and the wheel 8 comes near to the bottom portion 6, however,this is not a limitation. For example, the recess portion does not haveto be provided in the back surface of the bottom portion.

In the case where the recess 6 a having the above function is providedon the back surface of the bottom portion 6, the car can be moved in astate that the front surface of the bottom portion 6 and the wheel 8 areclose to each other. In other words, the car can move in a state thatthe vehicle's height is made low. Further, in the case where there is aprojection such as a step or a curb on the ground, even if the height ofthe projection is high, it is possible to realize a desired movement(for example, a movement of climbing up a step or a movement of climbingover a curb). Further, in the case there is an inclination in theground, even in the case where the inclination angle of the inclinationis large, it is possible to realize a movement of moving in a state thatthe bottom portion is maintained horizontal. From this regard, thisembodiment is more preferable.

Further, in this embodiment, it is assumed that there are provided amain computer 14 that can communicate with each of the sub-computers 12,but this is not a limitation. For example, there does not have to beprovided the main computer.

1-16. (canceled)
 17. A car comprising: a car body having a bottomportion; a wheel that is rotatable; and a supporting member forsupporting the wheel, the supporting member being provided to the bottomportion, wherein at least eight pairs of the wheel and the supportingmember are provided, wherein the supporting member has a firstsupporting portion for supporting the wheel rotatably, a secondsupporting portion for supporting the first supporting portion so that adirection of the wheel supported by the first supporting portion can bechanged, and a turning portion that is rotatable about a rotation axiswith its axial direction along a direction orthogonal to the bottomportion, the turning portion being provided to the bottom portion,wherein the turning portion supports the second supporting portion sothat a distance between the wheel and the bottom portion can be changed,and a position of the wheel can be moved by a rotation of the turningportion in a state that the distance is maintained, and the car is a toycar.
 18. (canceled)
 19. (canceled)